ISPose.c File Reference

#include <math.h>
#include "ISConstants.h"
#include "ISPose.h"
#include "ISEarth.h"

Include dependency graph for ISPose.c:

Go to the source code of this file.

Macros
#define	_MATH_DEFINES_DEFINED

Functions
void	DCMeuler (const Matrix3_t m, Euler_t euler)
f_t	DCMpsi (const f_t *m)
void	DCMquat (const Matrix3_t mat, Quat_t q)
void	div_Quat_Quat (Quat_t result, const Quat_t q1, const Quat_t q2)
void	dpsi_dq (const Quat_t q, Quat_t dq)
void	euler2quat (const Euler_t euler, Quat_t q)
void	eulerBodyToReference (const Euler_t e, const Euler_t rot, Euler_t result)
void	eulerDCM (const Euler_t euler, Matrix3_t m)
void	eulerDCM_Trans (const Euler_t euler, Matrix3_t m)
void	eulerNed (const Euler_t e, Vector3_t ned)
void	eulerReferenceToBody (const Euler_t e, const Euler_t rot, Euler_t result)
void	eulerWx (const Euler_t euler, Matrix3_t mat)
void	mul_ConjQuat_Quat (Quat_t result, const Quat_t qc, const Quat_t q2)
void	mul_Quat_ConjQuat (Quat_t result, const Quat_t q1, const Quat_t qc)
void	mul_Quat_Quat (Quat_t result, const Quat_t q1, const Quat_t q2)
void	nedEuler (const Vector3_t ned, Euler_t e)
void	phiThetaDCM (const Euler_t euler, Matrix3_t m)
void	psiDCM (const f_t psi, Matrix2_t m)
void	qe2b2EulerNedEcef (Vector3 eul, const Vector4 qe2b, const Vector3d ecef)
void	qe2b2EulerNedLLA (Vector3 eul, const Vector4 qe2b, const Vector3d lla)
void	quat2euler (const Quat_t q, Euler_t theta)
void	quat2phiTheta (const Quat_t q, f_t *phi, f_t *theta)
void	quat2psi (const Quat_t q, f_t *psi)
void	quat_ecef2ned (float lat, float lon, float *qe2n)
void	quat_init (Quat_t q)
void	quat_Vec3_Vec3 (Quat_t result, const Vector3_t v1, const Vector3_t v2)
void	quatConj (Quat_t result, const Quat_t q)
void	quatConjRot (Vector3_t result, const Quat_t q, const Vector3_t v)
void	quatDCM (const Quat_t q, Matrix3_t mat)
void	quatdDCM (const Vector4d q, Matrix3_t mat)
void	quatRot (Vector3_t result, const Quat_t q, const Vector3_t v)
void	quatRotAxis (const Quat_t q, Vector3_t pqr)
void	quatW (const Euler_t euler, Matrix4_t mat)
void	vectorBodyToReference (const Vector3_t v, const Euler_t rot, Vector3_t result)
void	vectorReferenceToBody (const Vector3_t v, const Euler_t rot, Vector3_t result)

Macro Definition Documentation

_MATH_DEFINES_DEFINED

#define _MATH_DEFINES_DEFINED

Definition at line 13 of file ISPose.c.

Function Documentation

DCMeuler()

void DCMeuler	(	const Matrix3_t	m,
		Euler_t	euler
	)

Definition at line 447 of file ISPose.c.

DCMpsi()

f_t DCMpsi

(

const f_t *

m

)

Definition at line 340 of file ISPose.c.

DCMquat()

void DCMquat	(	const Matrix3_t	mat,
		Quat_t	q
	)

Definition at line 527 of file ISPose.c.

div_Quat_Quat()

void div_Quat_Quat	(	Quat_t	result,
		const Quat_t	q1,
		const Quat_t	q2
	)

Definition at line 105 of file ISPose.c.

dpsi_dq()

void dpsi_dq	(	const Quat_t	q,
		Quat_t	dq
	)

Definition at line 632 of file ISPose.c.

euler2quat()

void euler2quat	(	const Euler_t	euler,
		Quat_t	q
	)

Definition at line 218 of file ISPose.c.

eulerBodyToReference()

void eulerBodyToReference	(	const Euler_t	e,
		const Euler_t	rot,
		Euler_t	result
	)

Definition at line 670 of file ISPose.c.

eulerDCM()

void eulerDCM	(	const Euler_t	euler,
		Matrix3_t	m
	)

Definition at line 355 of file ISPose.c.

eulerDCM_Trans()

void eulerDCM_Trans	(	const Euler_t	euler,
		Matrix3_t	m
	)

Definition at line 413 of file ISPose.c.

eulerNed()

void eulerNed	(	const Euler_t	e,
		Vector3_t	ned
	)

Definition at line 659 of file ISPose.c.

eulerReferenceToBody()

void eulerReferenceToBody	(	const Euler_t	e,
		const Euler_t	rot,
		Euler_t	result
	)

Definition at line 686 of file ISPose.c.

eulerWx()

void eulerWx	(	const Euler_t	euler,
		Matrix3_t	mat
	)

Definition at line 545 of file ISPose.c.

mul_ConjQuat_Quat()

void mul_ConjQuat_Quat	(	Quat_t	result,
		const Quat_t	qc,
		const Quat_t	q2
	)

Definition at line 78 of file ISPose.c.

mul_Quat_ConjQuat()

void mul_Quat_ConjQuat	(	Quat_t	result,
		const Quat_t	q1,
		const Quat_t	qc
	)

Definition at line 92 of file ISPose.c.

mul_Quat_Quat()

void mul_Quat_Quat	(	Quat_t	result,
		const Quat_t	q1,
		const Quat_t	q2
	)

Definition at line 64 of file ISPose.c.

nedEuler()

void nedEuler	(	const Vector3_t	ned,
		Euler_t	e
	)

Definition at line 648 of file ISPose.c.

phiThetaDCM()

void phiThetaDCM	(	const Euler_t	euler,
		Matrix3_t	m
	)

Definition at line 380 of file ISPose.c.

psiDCM()

void psiDCM	(	const f_t	psi,
		Matrix2_t	m
	)

Definition at line 316 of file ISPose.c.

qe2b2EulerNedEcef()

void qe2b2EulerNedEcef	(	Vector3	eul,
		const Vector4	qe2b,
		const Vector3d	ecef
	)

Definition at line 281 of file ISPose.c.

qe2b2EulerNedLLA()

void qe2b2EulerNedLLA	(	Vector3	eul,
		const Vector4	qe2b,
		const Vector3d	lla
	)

Definition at line 294 of file ISPose.c.

quat2euler()

void quat2euler	(	const Quat_t	q,
		Euler_t	theta
	)

Definition at line 185 of file ISPose.c.

quat2phiTheta()

void quat2phiTheta	(	const Quat_t	q,
		f_t *	phi,
		f_t *	theta
	)

Definition at line 195 of file ISPose.c.

quat2psi()

void quat2psi	(	const Quat_t	q,
		f_t *	psi
	)

Definition at line 204 of file ISPose.c.

quat_ecef2ned()

void quat_ecef2ned	(	float	lat,
		float	lon,
		float *	qe2n
	)

Definition at line 267 of file ISPose.c.

quat_init()

void quat_init

(

Quat_t

q

)

Definition at line 34 of file ISPose.c.

quat_Vec3_Vec3()

void quat_Vec3_Vec3	(	Quat_t	result,
		const Vector3_t	v1,
		const Vector3_t	v2
	)

Definition at line 118 of file ISPose.c.

quatConj()

void quatConj	(	Quat_t	result,
		const Quat_t	q
	)

Definition at line 49 of file ISPose.c.

quatConjRot()

void quatConjRot	(	Vector3_t	result,
		const Quat_t	q,
		const Vector3_t	v
	)

Definition at line 161 of file ISPose.c.

quatDCM()

void quatDCM	(	const Quat_t	q,
		Matrix3_t	mat
	)

Definition at line 466 of file ISPose.c.

quatdDCM()

void quatdDCM	(	const Vector4d	q,
		Matrix3_t	mat
	)

Definition at line 491 of file ISPose.c.

quatRot()

void quatRot	(	Vector3_t	result,
		const Quat_t	q,
		const Vector3_t	v
	)

Definition at line 142 of file ISPose.c.

quatRotAxis()

void quatRotAxis	(	const Quat_t	q,
		Vector3_t	pqr
	)

Definition at line 602 of file ISPose.c.

quatW()

void quatW	(	const Euler_t	euler,
		Matrix4_t	mat
	)

Definition at line 570 of file ISPose.c.

vectorBodyToReference()

void vectorBodyToReference	(	const Vector3_t	v,
		const Euler_t	rot,
		Vector3_t	result
	)

Definition at line 702 of file ISPose.c.

vectorReferenceToBody()

void vectorReferenceToBody	(	const Vector3_t	v,
		const Euler_t	rot,
		Vector3_t	result
	)

Definition at line 717 of file ISPose.c.